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BGE: ray casting works on soft body, the hit polygon is also returned. The modifications to Bullet have been reported to Bullet forum. Note: welding is completely disabled on soft body as it breaks the relationship between the soft body collision shape and the graphics mesh without bringing any additional stability (the reverse actually).

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This commit is contained in:
Benoit Bolsee
2009-11-28 17:30:34 +00:00
parent 38ba32a423
commit 1c4150f211
5 changed files with 46 additions and 2 deletions
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4
extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h vendored
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@@ -152,6 +152,10 @@ BT_DECLARE_ALIGNED_ALLOCATOR();
{
return (proxyType == STATIC_PLANE_PROXYTYPE);
}
static SIMD_FORCE_INLINE bool isSoftBody(int proxyType)
{
return (proxyType == SOFTBODY_SHAPE_PROXYTYPE);
}
}
;

26
extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp vendored
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@@ -31,6 +31,7 @@ subject to the following restrictions:
#include "LinearMath/btAabbUtil2.h"
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btStackAlloc.h"
#include "BulletSoftBody/btSoftBody.h"
//#define USE_BRUTEFORCE_RAYBROADPHASE 1
//RECALCULATE_AABB is slower, but benefit is that you don't need to call 'stepSimulation' or 'updateAabbs' before using a rayTest
@@ -411,6 +412,31 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
// restore
collisionObject->internalSetTemporaryCollisionShape(saveCollisionShape);
}
} else {
if (collisionShape->isSoftBody()) {
btSoftBody* softBody = static_cast<btSoftBody*>(collisionObject);
btSoftBody::sRayCast softResult;
if (softBody->rayTest(rayFromTrans.getOrigin(), rayToTrans.getOrigin(), softResult))
{
btCollisionWorld::LocalShapeInfo shapeInfo;
shapeInfo.m_shapePart = 0;
shapeInfo.m_triangleIndex = softResult.index;
// get the normal
btVector3 normal = softBody->m_faces[softResult.index].m_normal;
btVector3 rayDir = rayToTrans.getOrigin() - rayFromTrans.getOrigin();
if (normal.dot(rayDir) > 0) {
// normal always point toward origin of the ray
normal = -normal;
}
btCollisionWorld::LocalRayResult rayResult
(collisionObject,
&shapeInfo,
normal,
softResult.fraction);
bool normalInWorldSpace = true;
resultCallback.addSingleResult(rayResult,normalInWorldSpace);
}
}
}
}
}

4
extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.h vendored
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@@ -72,6 +72,10 @@ public:
{
return btBroadphaseProxy::isCompound(getShapeType());
}
SIMD_FORCE_INLINE bool isSoftBody() const
{
return btBroadphaseProxy::isSoftBody(getShapeType());
}
///isInfinite is used to catch simulation error (aabb check)
SIMD_FORCE_INLINE bool isInfinite() const

4
source/gameengine/Converter/BL_BlenderDataConversion.cpp
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@@ -1458,7 +1458,9 @@ void BL_CreatePhysicsObjectNew(KX_GameObject* gameobj,
objprop.m_soft_kAHR= blenderobject->bsoft->kAHR; /* Anchors hardness [0,1] */
objprop.m_soft_collisionflags= blenderobject->bsoft->collisionflags; /* Vertex/Face or Signed Distance Field(SDF) or Clusters, Soft versus Soft or Rigid */
objprop.m_soft_numclusteriterations= blenderobject->bsoft->numclusteriterations; /* number of iterations to refine collision clusters*/
objprop.m_soft_welding = blenderobject->bsoft->welding; /* welding */
//objprop.m_soft_welding = blenderobject->bsoft->welding; /* welding */
/* disable welding: it doesn't bring any additional stability and it breaks the relation between soft body collision shape and graphic mesh */
objprop.m_soft_welding = 0.f;
objprop.m_margin = blenderobject->bsoft->margin;
objprop.m_contactProcessingThreshold = 0.f;
} else

10
source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
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@@ -1070,6 +1070,8 @@ PHY_IPhysicsController* CcdPhysicsEnvironment::rayTest(PHY_IRayCastFilterCallbac
rayCallback.m_hitTriangleIndex < shapeInfo->m_polygonIndexArray.size())
{
result.m_meshObject = shapeInfo->GetMesh();
// note for softbody: this assumes that the softbody shape uses the same triangle numbering
// than the triangle mesh shape that was used to build it
result.m_polygon = shapeInfo->m_polygonIndexArray.at(rayCallback.m_hitTriangleIndex);
// Bullet returns the normal from "outside".
@@ -1078,7 +1080,13 @@ PHY_IPhysicsController* CcdPhysicsEnvironment::rayTest(PHY_IRayCastFilterCallbac
{
// mesh shapes are shared and stored in the shapeInfo
btTriangleMeshShape* triangleShape = shapeInfo->GetMeshShape();
if (triangleShape)
if (shape->isSoftBody())
{
// we can get the real normal directly from the body
btSoftBody* softBody = static_cast<btSoftBody*>(rayCallback.m_collisionObject);
rayCallback.m_hitNormalWorld = softBody->m_faces[rayCallback.m_hitTriangleIndex].m_normal;
} else if (triangleShape)
{
// this code is copied from Bullet
btVector3 triangle[3];